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dc.contributor.authorChakravarthy, Animesh
dc.contributor.authorGhose, Debasish
dc.identifier.citationChakravarthy, Animesh, and Debasish Ghose. 2012. "Generalization of the collision cone approach for motion safety in 3-D environments". Autonomous Robots. 32 (3): 243-266.en_US
dc.identifier.otherWOS: 000302037300006
dc.descriptionClick on the DOI link below to access the article (may not be free).en_US
dc.description.abstractAvoidance of collision between moving objects in a 3-D environment is fundamental to the problem of planning safe trajectories in dynamic environments. This problem appears in several diverse fields including robotics, air vehicles, underwater vehicles and computer animation. Most of the existing literature on collision prediction assumes objects to be modelled as spheres. While the conservative spherical bounding box is valid in many cases, in many other cases, where objects operate in close proximity, a less conservative approach, that allows objects to be modelled using analytic surfaces that closely mimic the shape of the object, is more desirable. In this paper, a collision cone approach (previously developed only for objects moving on a plane) is used to determine collision between objects, moving in 3-D space, whose shapes can be modelled by general quadric surfaces. Exact collision conditions for such quadric surfaces are obtained and used to derive dynamic inversion! based avoidance strategies.en_US
dc.relation.ispartofseriesAutonomous Robots;2012, v.32, no.3
dc.subjectCollision coneen_US
dc.subjectDynamic environmentsen_US
dc.subjectObstacle avoidanceen_US
dc.subjectPath planningen_US
dc.subjectQuadric surfacesen_US
dc.subject.classificationCOMPUTER SCIENCE
dc.titleGeneralization of the collision cone approach for motion safety in 3-D environmentsen_US
dc.description.versionPeer reviewed article
dc.rights.holderCopyright © Springer Science+Business Media, LLC 2011

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